CN105491951A

CN105491951A - Registering nuclear medicine data

Info

Publication number: CN105491951A
Application number: CN201580001669.5A
Authority: CN
Inventors: S·本-海姆
Original assignee: Navix International Ltd
Current assignee: Navix International Ltd
Priority date: 2014-07-30
Filing date: 2015-07-30
Publication date: 2016-04-13
Anticipated expiration: 2035-07-30
Also published as: WO2016016839A1; EP3174464A4; EP3174466B1; CN105491952A; US20170263021A1; CN105491951B; US10776961B2; EP3174466A1; CN105491952B; EP3174464A1; US20200279412A1; US10672152B2; US20170278280A1; WO2016016837A1

Abstract

A method of data presentation in which NM data and x-ray data (or other structural and/or functional data sets) are combined for display. In some exemplary embodiments of the invention, the combination uses rules, for example Boolean rules to generate a display. In some exemplary embodiments of the invention, the combination uses a marker visible in the NM and x-ray modalities. Optionally, the marker includes a removable radioactive section.

Description

Registration nuclear medicine data

related application

This application claims the rights and interests of the U.S.Provisional Serial 62/030,750 and 62/030,825 on July 30th, 1 submitted at 35USC119 (e).

The application relates to:

The PCT number of patent application PCT/IL2014/050086 that on January 24th, 2014 submits to,

The PCT number of patent application PCT/IL2014/050088 that on January 24th, 2014 submits to,

The PCT number of patent application PCT/IL2014/050089 that on January 24th, 2014 submits to,

The PCT number of patent application PCT/IL2014/050090 that on January 24th, 2014 submits to,

The PCT number of patent application PCT/IL2014/050246 that on March 11st, 2014 submits to; And

PCT application and publication IB2015/053984 (submission on May 27th, 2015); WO2015/104672; WO2015/033319 and WO2015/033317.

The content of above-mentioned application is combined by reference, completely to list at this in full as with it.

invention field and background

The present invention relates to registration nuclear medicine data in its some embodiments, such as image, such as, use for the data during the program based on cryptoscope.

summary of the invention

According to exemplary embodiments more of the present invention, provide a kind of data representation method, the method comprises:

Gather in the very first time and location place with the performance data of at least one anatomy indicant registration;

The position of described at least one anatomy indicant is gathered in the second time and location place; And

Display indicates with at least one of the described performance data of described collection position registration.Optionally, described acquisition function data comprise collection NM (nuclear medicine) data together with the radiopaque label of collection at least one.Optionally or alternately, described acquisition function data comprise the position that image data carries out together with use location sensor and determine.Optionally or alternately, described acquisition function data comprise the multipoint images of resolving radioactivity fiducial marker.Optionally or alternately, described acquisition function data comprise the asymmetrical characteristic of resolving radioactivity fiducial marker.Optionally or alternately, described anatomy indicant comprises the radioactivity reference mark of jointly locating with radiopaque labelling.Optionally, the method comprises the described radioactivity reference mark removed between the described very first time and described second time.

In exemplary embodiments more of the present invention, describedly collection is carried out to position comprise 2D position is gathered.

In exemplary embodiments more of the present invention, describedly collection is carried out to position comprise plane x-ray image is gathered.Optionally, described display comprises and at least part of described performance data being superimposed upon on described x-ray image.Optionally or alternately, described acquisition function data comprise the multiple positions gathering described anatomy indicant, gather together with described performance data.Optionally or alternately, the method comprises and analyzes described display to differentiate one or more focus on described plane x-ray image.

According to exemplary embodiments more of the present invention, provide a kind of method of imaging data registration, the method comprises:

A () collects and the first view data of at least one the first label registration, multiple positions that described collection is included in described first label gather;

B () is from second view data of described first image data collection different mode of position comprising described first label; And

(c) based on the registration of the described position of described first label and described multiple position of described first label, by described first view data and described second registration of image data.Optionally, described view data comprises the view data of continuous acquisition.Optionally, described view data and described position are collected through at least one whole complete cardiac cycle.Optionally or alternately, the method comprises the model of the position described multiple position being treated to described first label.

In exemplary embodiments more of the present invention, described collection second view data comprises collects one or more plane x-ray image.Optionally, described collection second view data comprises the described position of extracting described first label from described plane x-ray image.

In exemplary embodiments more of the present invention, described registration comprises the described multiple position of use to retrain a series of possible registration.

According to exemplary embodiments more of the present invention, provide the device for image display, this device comprises:

(a) memorizer, this memorizer has stored the position of NM data and at least one anatomy location thereon;

B () is for the input of x-ray image;

(c) position extractor, this position extractor is from the position of the image zooming-out fiducial marker received by described input; And

D () supercircuit, this supercircuit is by the position of described extraction and described anatomy locator and the instruction of described NM data be superimposed upon on the image of described input.

Optionally, described position extractor also extracts the position of at least one instrument, and described supercircuit by described tool location superposition on the image.Optionally or alternately, described position extractor comprises the evaluator of the fiducial marker identified on this image.

According to exemplary embodiments more of the present invention, provide fiducial marker, this fiducial marker comprises:

(a) radiopaque section; And

B () radioactive label section, this radioactive label section comprises the installation material for removable radioactive marker part.Optionally, described installation material comprises the container for radioactive fluid.Optionally or alternately, described installation material comprises the container for radioactivity insert.Optionally or alternately, described installation material comprises the cooperation based on interference.

In exemplary embodiments more of the present invention, it is active that described radioactive label section has the radiation center of jointly locating with the Bu Tou center of at least two dimensions and described radiopaque section.

In exemplary embodiments more of the present invention, at least one in described section is annular.

In exemplary embodiments more of the present invention, this label comprises having and is applicable to the adhesion layer of long-term adhesion to the adhesive agent of human skin.

In exemplary embodiments more of the present invention, this label comprises the radiolabel moiety be arranged in described installation material.Optionally, the energy feature of described radioactive segment comprises multiple different energy band.Optionally, at least one of described energy band is not be associated with the energy feature of the biocompatibility tracer in Clinical practice.Optionally or alternately, described radioactive marker part is formed by non-biocompatible active material.

(a) radiopaque section, this radiopaque section limits at least one point, and this at least one point is used for the discriminating in x-ray image; And

(b) radioactivity section, this radioactivity section is limited to a few point, and this at least one point is used for the discriminating in NM image,

Wherein said two points are located jointly with at least two dimensions and overlapping.Optionally, at least one in described point is limited by a part.Optionally or alternately, at least one in described point is limited by loop section.Optionally or alternately, described radioactivity section comprises removable radiolabel moiety.Optionally or alternately, this label comprises having and is applicable to the adhesion layer of long-term adhesion to the adhesive agent of human skin.

Wherein said radioactivity section have at least two dimensions not with described radiopaque active center aimed at.Optionally, described radioactivity section is asymmetric.Optionally or alternately, described unsymmetry is geometrically.Optionally or alternately, described unsymmetry is active material distribution.

According to exemplary embodiments more of the present invention, provide the method using fiducial marker, the method comprises:

A fiducial marker is attached to patient by ();

B () uses NM system to carry out imaging to obtain NM data to this patient;

C () determines the location of the described fiducial marker after described imaging on described patient; And

D () generates from described NM data and the described location determined and comprises the NM image of described fiducial marker and the data set of position.Optionally, described fiducial marker is radiopaque, and the method comprises use for the described position sensor determined.Optionally or alternately, described fiducial marker is radioactive.Optionally or alternately, the method comprises described fiducial marker is attached to patient, and after this makes described label have radioactivity.Optionally or alternately, the method comprise make described label be on-radiation be previous radiation be less than 10%, and it does not removed from patient and go through the time being less than 10 minutes.Optionally or alternately, determine to locate in the NM data being included in described imaging and differentiate described label.Optionally, determine to locate the energy feature comprising and differentiate described label.

In exemplary embodiments more of the present invention, determine to locate the shape comprising and differentiate described label.

In exemplary embodiments more of the present invention, attachment comprises and is attached to skin.

In exemplary embodiments more of the present invention, attachment comprises in body inserts.

In exemplary embodiments more of the present invention, the location place that described generation is included in away from described imaging generates.

According to exemplary embodiments more of the present invention, provide NM data processor, this NM data processor comprises:

A () is for the input of NM data;

(b) image reconstructor; With

(c) fiducial marker extractor.Optionally, described extractor is configured at the some place of the radioactive activity of described label but not described label is differentiated in center.

According to exemplary embodiments more of the present invention, provide the method for a kind of display from the data of multiple data collection, the method comprises:

A () provides rule, this rule comprises one or more first characteristics for the first data set; For one or more second characteristics of the second data set; And the relation between this first characteristic and this second characteristic;

B described rule is applied to the first data set by ();

B described rule is applied to the second data set by (); And

C () is based on relation display instruction as described in rule as described in the result as being applied to application described in (a) and (b).Optionally, described first data set and described second data set have different patterns.Optionally or alternately, described relation makes the architectural feature a data centralization relevant to the functional character in another data centralization.Optionally or alternately, described display is binary, if this rule match, instruction is shown, and if this rule is not mated, instruction is not shown.Optionally or alternately, described instruction comprises a part of data of at least one from described data centralization.Optionally or alternately, described (b) application comprises described first data set of segmentation for described rule being applied to one or more segmentation section.Optionally or alternately, described first data set is NM, and described second data set is x-ray.Optionally or alternately, the method comprises and builds described rule from the relevant to described first data set first rule and from the Second Rule relevant with described second data set.

Gather in the very first time and location place with the first data of at least one anatomy indicant registration;

X-radial imaging is used to gather the position of described at least one anatomy indicant in the second time and location place; And

Display indicates with at least one of described first data of described collection position registration.Optionally, described collection first data comprise collection RF data.

Unless otherwise defined, all technical and/or scientific terms used herein have understood identical implication usual with those skilled in the art.Although similar or be equal to described herein those method and material may be used for embodiments of the invention practice or test in, described below is illustrative methods and/or material.In the case of a conflict, description of the present invention, comprises definition, will occupy leading.In addition, these materials, method and example are only illustrative, and are not intended to be inevitable restrictive.

As will be determined by the skilled person understood, aspect of the present invention can be presented as a kind of system, method or computer program.Therefore, following form can be taked in aspect of the present invention: completely hardware embodiment, completely software implementation (comprise firmware, resident software, microcode, etc.) or embodiment that software and hardware aspect is combined, can all substantially referred to here as " loop ", " module " or " system ".In addition, the form of computer program can be taked in aspect of the present invention, and this computer program is embodied in one or more computer-readable mediums, and described computer-readable medium has the computer readable program code embodied thereon.The method of embodiments of the invention and/or the implementation of system can relate to manually, automatically or with it combine the task of carrying out or completing selection.In addition, according to actual instrumentation and the equipment of the embodiment of method of the present invention and/or system, the task of some selections can by hardware, combinationally use operating system to realize by software or by firmware or by it.

Such as, the hardware for the task of carrying out selecting according to embodiments of the invention may be implemented as chip or loop.As software, selecting according to an embodiment of the invention of task may be implemented as the multiple software instructions using any applicable operating system to perform by computer.In an exemplary embodiment of the present invention, undertaken by data processor, as the computer platform for performing multiple instruction according to one or more tasks of the exemplary embodiment of method as described herein and/or system.Optionally, this data processor comprises the volatile memory for storing instruction and/or data, and/or nonvolatile memory, such as, for storing magnetic hard-disk and/or the removable medium of instruction and/data.Optionally, network is also provided to connect.Optionally, also provide display and/or user input apparatus as keyboard or mouse.

Any combination of one or more computer-readable mediums can be used.Computer-readable medium can be computer-readable signal media or computer-readable recording medium.Computer-readable recording medium can be such as but not limited to electronics, magnetic, optics, electromagnetism, ultrared or semiconductor system, device or device, or above-mentioned every any applicable combination.The more specifically example (exhaustive is enumerated) of computer-readable recording medium can comprise following item: the electrical connection with one or more wire, portable computer diskette, hard disk, random access memory (RAM), read only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM or flash memory), optical fiber, portable optic disk read only memory (CD-ROM), optical storage, magnetic memory apparatus, or above-mentioned every any applicable combination.In the context of the literature, computer-readable recording medium can be comprise or store any tangible medium for by the program that instruction execution system, equipment or device use or and instruction executive system, equipment or device are combined.

A kind of computer-readable signal media can comprise the data signal of the transmission with the computer readable program code that (such as, in base band or the part as carrier wave) implements wherein.The signal of this transmission can take any one in various ways, include but not limited to electromagnetism, optics or its any suitable combination.Computer-readable signal media can be any be not computer-readable recording medium and can communicate, transmit or conveying program (for by instruction execution system, device or device use or and instruction executive system, device or device connect) computer-readable medium.

The program code implemented on a computer-readable medium can use any suitable medium to transmit, and includes but not limited to wireless, wired, optical fiber cable, RF etc. or aforementioned every any applicable combination.

Can write by any combination of one or more programming languages for the computer program code performing computing for aspect of the present invention, these programming languages comprise Object-Oriented Programming Language as Java, Smalltalk, C++ etc. and conventional program programming language, as " C " programming language or similar programming language.Program code can fully perform on the computer of user, partly on the computer of user, perform (as unit software kit), partly perform on remote computer or server on the remote computer or fully on the computer of user and partly.In the latter's situation, remote computer can be connected on the computer of user by the network of any type, comprise LAN (LAN) or wide area network (WAN), or this connection can be manufactured to and connect with outer computer (such as, by using the Internet of ISP).

The following flow chart with reference to method, instrument (system) and computer program according to an embodiment of the invention in aspects more of the present invention and/or block diagram describe.Should be understood that, the combination of the frame in each frame of these flow charts and/or block diagram and these flow charts and/or block diagram can be implemented by computer program instructions.These computer program instructions can be supplied to the processor of general purpose computer, special-purpose computer, or other programmable data blood processor are to produce a kind of machine, the instruction that makes processor or other programmable data blood processor via computer perform like this creates the means of the function of specifying in the one or more frames for implementing procedure figure and/or block diagram.

These computer program instructions can also be stored in computer-readable medium, this computer-readable medium can instruct computer, other programmable data blood processor or other devices to play function by a kind of special mode, the instruction be stored in this computer-readable medium is made to produce a kind of article comprising instruction of manufacture like this, the function/behavior of specifying in one or more frames of these instruction implementing procedure figure and/or block diagram.

These computer program instructions can also be carried on computer, other programmable data blood processor or other devices to cause a series of calculation step needing to be carried out on this computer, other programmable devices or other devices, to produce computer-implemented process, these instructions performed on the computer or other programmable apparatus are made to provide process for implementing the function/behavior of specifying in one or more frames of flow chart and/or block diagram like this.

Some of method described here are designed to generally only for being used by computer, and for pure by human expert be not manually feasible or practicality.Want the human expert manually carrying out similar tasks (such as image procossing, biosensor analysis and/or database retrieval) to be expected and use complete diverse ways, such as, utilize the mode identificating ability of Professional knowledge and/or human brain, this will be that Overall Steps than manually completing method described here is extremely more efficient.

the brief description of some views of accompanying drawing

At this with reference to accompanying drawing, by means of only illustrating, some embodiments of the present invention are described.Now concrete with reference to accompanying drawing in detail, to it should be emphasized that by way of example and for the object display details of the illustrative discussion of embodiments of the invention.In this, the explanation carried out by reference to the accompanying drawings makes to one skilled in the art, and it will be apparent for how can putting into practice embodiments of the invention.

In the accompanying drawings:

Figure 1A is the method flow diagram according to navigating in the imaging of exemplary embodiments more of the present invention and body;

Figure 1B is the method flow diagram of nuclear medicine for navigating subsequently according to exemplary embodiments more of the present invention;

Fig. 1 C uses nuclear medicine data to carry out the method flow diagram navigated in body according to exemplary embodiment of the present invention;

Fig. 2 is the block diagrams of exemplary embodiments more according to the present invention for the system of nuclear medicine;

Fig. 3 is exemplary embodiments more according to the present invention for the block diagram of the system of navigating in body;

Fig. 4 is the schematic diagram of the fiducial marker according to exemplary embodiments more of the present invention;

Fig. 5 is according to exemplary embodiments more of the present invention, and what the data that the NM of health derives and navigational aid data were shown schematically shows device;

Fig. 6 is the method flow diagram assessed according to the position of exemplary embodiments more of the present invention;

Fig. 7 is the method flow diagram of the data assemblies according to exemplary embodiments more of the present invention;

Fig. 8 is according to the screening of the exemplary embodiments more of the present invention method flow diagram for the patient for the treatment of of cancer;

Fig. 9 is that exemplary embodiments more according to the present invention illustrate the data of combination and schematically showing of optional treatment device;

Figure 10 A-10C is the diagram of the exemplary fiducial marker thing according to exemplary embodiments more of the present invention; And

Figure 11 A-11C is the exemplary diagram removing radioactive labels according to exemplary embodiments more of the present invention.

the explanation of specific embodiments of the invention

The position that an aspect of some embodiments of the present invention relates to based on nuclear medicine (' NM ') data is determined.In exemplary embodiments more of the present invention, NM data fiducial marker gathers, and make NM data comprise anatomical location instruction, and NM data is optionally reconfigured as and provides image.In exemplary embodiments more of the present invention, this identical fiducial marker still on health/body in, and for different (non-NM) imaging pattern of (in addition) comparison, such as CT or x-ray.

In an exemplary embodiment of the present invention, during medical procedures, the x-ray data of patient, such as: the plane x-ray image (or image of another kind of imaging pattern) comprising fiducial marker is collected, and the location of fiducial marker is from this one or more image zooming-out.Optionally is compared in the location in the location of the fiducial marker in one or more plane x-ray image and NM data.Then optionally NM data itself or its instruction (such as its processing form) are superimposed upon on x-ray image and/or in another manner and integrate with x-ray data.Optionally or alternately, x-ray data is used to refer to the relative position that (a) a kind of instrument and (b) NM data indicate region to be treated.

In exemplary embodiments more of the present invention, NM data gather during movement.The instruction of one or more fiducial marker can gather in multiple position, by these positions and the comparison of x-ray image.

An aspect of some embodiments of the present invention relates to the method for Registration of Measuring Data, and wherein NM data use the fiducial marker that can generate multiple position instruction (such as, due to its natural motion) to gather.In an exemplary embodiment of the present invention, the instruction of the plurality of position is compared with the single location utilizing the different mode identical fiducial marker of such as imaging in x-ray (such as with) to provide.Optionally, the instruction of the plurality of position is treated to and generates the center of circle.Optionally or alternately, the instruction of the plurality of position is treated to generation cyclic position.Optionally, the change in the position of this cyclic position and described single location matches.Such as, the instruction of the plurality of position can indicate the accessible a series of position of ventricle, and correct position instruction is associated with the single location provided for this ventricle x-ray.

Optionally or alternately, the instruction of the plurality of position is treated to the instruction providing anticipation error, such as, to provide error signal (it indicates the signal of bodily tissue movement typically).This error signal is optionally use when making two data sets (such as, NM data and x-ray data) be associated.In exemplary embodiments more of the present invention, the instruction of the plurality of position is treated to generation mobile message, this mobile message is optionally for the point (such as, exhale start or air-breathing terminates) in selecting to circulate and/or the movement location of label registration (or with) of optionally following the trail of label in circulation all or in part.Optionally, based on the distortion of the model of the data set in NM data, the data set (such as x-ray) at a some place is in the circulating cycle transformed to the data set in another point of circulation.Optionally, based on indicate in such as x-ray data and be in the relative position between best relevant label to the relative position of the label in NM data, determine the time in the circulating cycle.Optionally, the time is in the circulating cycle confirmed as being the time relevant to marker location, and these marker location are best relevant with x-ray data (when analyzing, being such as, image).

An aspect of some embodiments of the present invention relates to the circuit that can be attached to existing x-ray system, this circuit receive x-radiographic image data and by the previous collection of data and different mode (optionally functional mode) (such as MRI, PET, SPECT, ultrasonic and/or RF data) and/or the data (optionally 3D) that generate compare, described previous collection and/or the data of generation comprise fiducial marker that one or more indicate.In exemplary embodiments more of the present invention, functional mode provides tissue to play the information of function, such as metabolic rate, blood flow, regional chemistry composition and/or picked-up.This pattern can lack resolution and/or content to show anatomy.

In exemplary embodiments more of the present invention, circuit extracts the position of one or more fiducial marker from the data of x-ray image and/or other x-radiography acquisition, and is compared to the instruction (relevant with the data previously gathering/generate) of fiducial marker these positions.

In exemplary embodiments more of the present invention, previously gathered/data that generate are the NM data using the fiducial marker for NM and x-radial imaging to gather.The anatomy location of fiducial marker is optionally stable with imaging pattern in time.

An aspect of some embodiments of the present invention relates to the fiducial marker being applicable to x-radial imaging and functional imaging pattern (such as 3D imaging pattern, as NM imaging pattern, as PET or SPECT).In exemplary embodiments more of the present invention, this label comprises removable radioactivity section, and this can allow this label to serve as NM label.Optionally, removable radioactivity section is provided in the capsule comprising fluid or is in the form of this capsule.Optionally, this removable radioactivity section and radiopaque section are located altogether and/or have common center, and this can allow this label to serve as x-radiographic marker thing.

In exemplary embodiments more of the present invention, radiopaque (such as x-ray) section and radioactivity (such as, NM) section have common center in 1D, 2D or 3D.In an example, one in these sections be annular and other sections are in the center of this section.In another example, section is criss-cross and other sections are annulars and/or in the center of this section.

In exemplary embodiments more of the present invention, at least one dimension, radioactivity section is not symmetrical for radiopaque section.Symmetry, refers to function (such as, radiation-emitting and/or absorption) instead of size or shape.This unsymmetry may be used for guaranteeing to use the suitable software for extracting NM section, and this software comprises the ability differentiating this unsymmetry.This is different from the software of the center of gravity selecting transmitting simply.Optionally, unsymmetry is used for orientation calculation.

In one exemplary embodiment of the present invention, NM section is used different mode substitute as ultrasonic, the imageable section of MRI or RF or strengthen.

An aspect of some embodiments of the present invention relates to fiducial marker, this fiducial marker comprises the transmissive line section of radiopaque section and aligning (such as, along radiation ray direction, radiopaque section has the absorption being less than 50%, 30%, 20%, 10% or middle percentage ratio), this fiducial marker provides and uses different imaging pattern as the contrast medium of NM or RF.In exemplary embodiments more of the present invention, dielectric material be used for RF radiography and in 1D, 2D or 3D homocentric in radiopaque (such as x-ray) part center.In exemplary embodiments more of the present invention, be used in the design that this describes for radioactive marker, except RF marker material is conduction or dielectric (can be so as required).Optionally, use has the different designs of fixing radiopaque section and fixing dielectric part (such as, not there is different connector described here and/or use single housing for radiopaque section and dielectric part, and/or use radiopaque section as the housing for dielectric part, or vice versa).Optionally or alternately, radiopaque material is embedded in (such as, as powder) applicable dielectric material.

In exemplary embodiments more of the present invention, the material for dielectric labelling is selected as having the dielectric constant of the dielectric constant be significantly different from the frequency lower body tissue for imaging.Such as, this dielectric constant can be 1.5,2,5,10, the 30 or larger factor or intermediate multiples of blood dielectric constant.In certain embodiments, RF label comprises reverberation or loop, such as, have the loop of nonlinear response and/or produce the loop of second frequency in response to the RF energy impact at first frequency.Should notice that RF imaging can use different frequencies, also can use different non-optical frequencies, the frequency of such as 1-1000Hz, 1-1000KHz, 1-1000MHz, 1-1000GHz, 1-1000THz or lower and/or higher.

An aspect of some embodiments of the present invention relates to the data of combination two data sets such as NM data and x-ray data.

In one exemplary embodiment of the present invention, apply one or more rule when showing the data of combination.In exemplary embodiments more of the present invention, these rules limit these data sets each on characteristic (optionally different), and be limited to and need determining the relation of display in what between the characteristic that uses.Such as, rule can in order to illustrate the speckle certain magnitude range of data centralization, as long as these speckles have the position characteristic relative to the anatomical structure presented by another data set.This can have been come by process and analysis chart picture instead of primary image data.

In exemplary embodiments more of the present invention, display is Boolean type, and wherein feature illustrates or not shown, and this depends on rule match.

Before at least one embodiment of the present invention is explained in detail, it should be understood that the present invention might not be confined in its application in the following description set forth and/or assembly shown in accompanying drawing and/or example and/or the structure of method and the details of arrangement.The present invention can have other embodiments or can put into practice by different way or carry out.

example navigation and/or data fusion method

Figure 1A is the method flow Figure 100 according to navigating in the imaging of one exemplary embodiment of the present invention and/or body.

At 102 places, one or more label is attached to patient, such as 1 and 4 labels (or more) between (such as 2 or 3).Optionally, label is attached to body surface.Optionally or alternately, these labels are attached to bone, such as, screw is used.Optionally or alternately, at least one label is subcutaneous, instrument (such as endoscope) in pin or conduit or other bodies is optionally used to implant.

In one exemplary embodiment of the present invention, these labels can detect during functional imaging He during structure imaging, and/or be modifiable (such as, as described below) to be suitable for functional imaging and structure imaging, as desired.

In one exemplary embodiment of the present invention, these labels are placed on expection not by the location place relative to health (such as, vertebra) movement.Optionally or alternately, at least one label is positioned at intended tissue and moves part, no matter be attached to sclerous tissues's (such as, rib) or soft tissue (such as, fascia of abdomen).

At 104 places, optionally carry out structure imaging, also make label imaging.In one exemplary embodiment of the present invention, this structure imaging is 3D imaging (such as CT imaging or MRI imaging).Alternately, this imaging is 2D imaging, such as, and the imaging of x-gamma-ray fluoroscope r.

At 106 places, optionally carry out functional imaging, also make label imaging.In one exemplary embodiment of the present invention, this functional imaging is MRI imaging or NM (nuclear medicine) imaging, such as SPECT or PET.In certain embodiments, using can not be the imaging of pure functional imaging, such as, such as, based on the imaging of RF, as United States Patent (USP) 6, and 885, describe in 191, disclosed and be combined in this by reference.

In certain embodiments, such as, for the brain process (such as, adopt conduit) that wherein it is expected to less movement, structure imaging such as CT imaging is carried out in advance, and NM imaging during this program or before application.Optionally, position sensing is for illustrating the catheter positioning be superimposed upon on this one or more image.Optionally or alternately, this conduit is included in identifiable radioactive marker in NM image.

At 108 places, during getting involved, imaging is carried out to patient and its fiducial marker.In one exemplary embodiment of the present invention, this imaging uses the cryptoscope x-radial imaging based on the intervention of conduit.At 110 places, by the fiducial marker detected at 108 places with to detect at 104 and/or 106 places those compare, on the data gathered at 104 and/or 106 places can be superimposed upon image that 108 places gather.Exemplary comparison method is as described below.Optionally, once alignment fiducials label, one or more anatomy instruction in the picture is also able to comparison, such as, to improve comparison.Should point out, in some cases, the data set of these comparisons has different dimension (such as, each can be the dimension of 2D, 2D+ time, 3D, 3D+ time, 4D or higher).

In one exemplary embodiment of the present invention, the display of 110 comprises the part of each of image and/or the related data selecting display to gather, such as, as described below.Optionally or alternately, for display, the data set combined thus for automatic process, such as, for differentiating the progress of tumor.

According to the image of exemplary embodiment of the present invention some specifically pairing comprise x-gamma-ray fluoroscope r together with functional MRI, NM, ultrasonic.In one exemplary embodiment of the present invention, at least some in formation method uses radiography material.Optionally, when two images are combined, therefore the effect of two kinds of dissimilar radiography materials is displayable.

about exemplary details and the change of air navigation aid

Figure 1B is the method flow Figure 122 of nuclear medicine for navigating subsequently according to one exemplary embodiment of the present invention.

At 122 places, one or more labels are attached to patient.In exemplary embodiments more of the present invention, attachment location is selected as making them be positioned in location places different in body, to make it possible at least one or two dimensional information reconstructing the surface that they are attached.Optionally or alternately, label is positioned as place (such as, for one or both imaging patterns) that their unlikely hinder the view of organ to be studied.Optionally, label be positioned as making when during organ surgery by imager that is known and/or expection be orientated/direction of observation carry out x-radial imaging time, label (in projection imaging) but do not hinder the key component of the organ studied/treat and/or for navigating to the important symbol on it near area-of-interest.Optionally or alternately, label location is selected as making this imager can move to avoid label to hinder the pith of image, still provides available image simultaneously.

At 124 places, these labels are made into radioactive marker, such as, are attached on these labels by being inserted in these labels or by this type of section by radioactivity section.Should be noted that the attachment of fiducial marker a location and can be carried out in the time, and actual imaging can be in unknown delays.At this timing period, not only any active material will decay, and its radiation also will affect patient and/or their environment.In one exemplary embodiment of the present invention, these labels are designed (such as, as described below) for allowing radioactive segment to be added and/or to remove, as required, such as, as solid-state components or as fluid.

In one exemplary embodiment of the present invention, radioactive segment is only attached before imaging/inserts, and is optionally removed afterwards.In one exemplary embodiment of the present invention, these radioactive segments are by first removing radiopaque part (such as, the reeded capsule of tool, the ridge in the recess of this groove and this label interlocks) and it is substituted with radioactive segment adhere to.Such as, radiopaque ball can be substituted by radioactivity ball, and this ball is kept by the parts of plastics of this label.

At 126 places, collect radioactive emission data.Optionally, this patient moves (as a whole or part) during this collection.Optionally, this radiopaque label is used for the data of a position from patient and the data from another position of patient to compare.In certain embodiments, the change of the aspect, position of the fact of patient moving and/or the anatomic parts (such as vertebra and/or rib) of the comfortable image of amount extraction.Optionally or alternately, follow the trail of the movement at single imaging phase internal labeling thing, and use it for a series of positions determining label.Optionally, the position of label is associated from different data, comprises temporal information (or bin or gate, image as desired) because herein is provided for the transmitting data collected.This temporal information can use during image reconstruction and/or data overlap.

In one exemplary embodiment of the present invention, the radioactive emission of this label to be under the energy different from the energy of the tracer (such as I-123 or Tc-99) for patient (such as, with 10%, 30%, 50% or intermediate value different or there is larger difference), therefore these radioactive emission can be separated easily through imaging system.

At 128 places, image is optionally the data reconstruction from collecting.Optionally, this image comprises the image of label.Optionally or alternately, the image of label is substituted by the instruction of their position.Optionally, marker location is substituted by position distribution.

At 130 places, active material is optionally removed by from label.Optionally, these labellings itself keep being attached to health and/or in vivo.

Fig. 1 C uses nuclear medicine data to carry out the method flow Figure 140 navigated in body according to exemplary embodiment of the present invention.

At 142 places, imaging is carried out to patient, such as, uses cryptoscope.This imaging can be, such as, as the program based on conduit or the part of other programs of carrying out in imaging.In certain embodiments, this imaging carried out before this program, and other imaging is not optionally provided, or seldom provided, such as by the arrangement of time (such as, every 5,15,35 time cycles or intermediate value or longer time cycle) (as required or require) during getting involved.Optionally, needs are determined based on the progress of program and/or the position of conduit.

In exemplary embodiments more of the present invention, patient is that (such as between imaging/therapeutic room) is mobile and/or can experience some times between 126 and 142, such as 1-100 second, minute, hour and/or day.Such as, can experience time enough with allow any active material in patient to be reduced to during 126 their radiation level lower than 5%.In certain embodiments, new radioactive tracer agent material is injected for using (such as, to be allowed for up-to-date functional imaging) during 142 and/or afterwards.

At 144 places, in the image gathered, optionally automatically differentiate label (such as, from Figure 1B).Optionally, discriminating is based on size, shape and/or location.Optionally or alternately, user is to this system (such as, as described below) the instruction apparent position of label and/or specific discriminating of label on image.

At 146 places, the data (such as, NM data) previously gathered by indicating comparison to carry out registration the label found in the label instruction and 144 in data.

At 148 places, some or all of NM data (or its instruction, such as data segment or normalized NM data), and/or be optionally superimposed upon on the image of collection.Optionally, such as, use method described below, some of the data of collection are not shown.

At 150 places, intervention uses the image of combination to carry out.Optionally, imaging (such as, 142) is for following the trail of the location of conduit or other intervention tools.Optionally or alternately, this conduit is that use location sensor detects and/or extracts from image (142) and be shown to user.

In exemplary embodiments more of the present invention, this conduit shows/is positioned at fusion image (heterozygosis image), and this fusion image comprises the information from the different imaging patterns used.This conduit is navigated (such as, the homing capability that use location sensor provides, or by determining the position of the conduit in image space).Optionally, this conduit navigates towards the location with some function information be associated with lysis, and this information to be depicted in when program is carried out on heterozygosis image and to make intervene operation catheter navigation can be located to this by person.When reaching this location, intervene operation person can carry out diagnosis algorithm or therapeutic progresses or both.

In exemplary embodiments more of the present invention, registration is such as dynamic with the change (such as, because body kinematics and/or imager move) in the change in catheter position and/or x-ray image.Optionally, (such as, images match and overlap are real-time to date processing, such as, in 20 seconds, 10 seconds, 5 seconds, 1 second, 0.5 second and/or interlude.

exemplary NM imaging system

Fig. 2 is the block diagram of the system 200 for nuclear medicine according to exemplary embodiment of the present invention, and this system may be used for registration and/or otherwise combines NM data and x-ray data, such as, such as, as the described herein, relative to Figure 1A-1C.

System 200 comprises the one or more labels 202 (such as between 2 and 6, such as, between 3 and 5) for being attached to patient, and described label optionally has radiopaque section, optionally removable this section.Optionally, label is by be spirally connected and/or adhesive agent is attached to health.

In one exemplary embodiment of the present invention, one or more radioactive labels/sections 204 are provided for and are attached to one or more label 202.In certain embodiments, these labels are fluids.In exemplary embodiments more of the present invention, these labels are encapsulated as and are easy to attachment and/or remove.Optionally, being attached to these labels is by be clasped (such as, interference mechanism).Optionally or alternately, attachment is by screw in and/or by open and close latch.

NM (nuclear medicine) camera 206 is optionally provided as the part of this system, such as PET and/or SPECT camera.In some embodiments of the invention, camera is cardiac imaging instrument, such as, from biosensor international corporation (BiosensorsInternational) the obtainable D-Spect of Singapore.

Image reconstructor 208 is for using camera 206 and/or other data reconstruction NM images provided of originating.Operable example reconstruction method is described in PCT publication WO2014/115150, is disclosed and is combined in this by reference.

Tag extractor 210 may be provided in unit element or is provided as the part of general processor, and is adapted to be from NM image and/or data and/or extracts tag/label object location from x-ray image.Optionally, independent extractor be provided for NM data and for x-ray data (such as, one or both be unit and/or be associated with the Data Source that they run thereon.Extractor 210 and/or independent parts can comprise the data binner for such as using Combination of Methods NM data described here and x-ray data.

Data storage 212 is optionally provided and can stores such as data, scheme, and prior images, program, mandate are to be applied to data, daily record data and/or other patients and/or process related data by one or more software part.

exemplary navigation system

Fig. 3 is according to the schematic block diagram of one exemplary embodiment of the present invention for the system 100 of navigation and/or imaging in body.

Patient 302 comprises the heart (or other organs) 304 with target 306, and when patient 302 is injected applicable radioactive marker, this target is characterized by radioactive emission.In certain embodiments, this target not there and relative near the known location relation of " focus " and/or its place.

Optional x-ray imagers 308 (such as, cryptoscope) with the visual field (FOV) 310 and optionally one or more radiopaque label 312 gather the image of patient 308.As pointed by this, label 312 also can be radioactive.In one exemplary embodiment of the present invention, FOV310 is selected as enough large with the image collecting part interested and/or the navigation approach to target 306.In one exemplary embodiment of the present invention, FOV310 is enough large to collect enough labels 112, to make it possible to x-ray image and NM Registration of Measuring Data, such as described in this.

In one exemplary embodiment of the present invention, system 300 uses conduit 314.Position sensing 316 may be used for determining the position of conduit 314 (such as, it is most advanced and sophisticated) and/or other parts of system 300, as label 312 (such as, by touching position sensor thereon, if or they comprise position sensor).

NM (nuclear medicine) data 318 can such as provide from bin and/or use NM imager (not shown).Optionally, when conduit 314 uses NM imager when patient 302 is inner.Optionally, NM is reconfigured as image.In other embodiments, image is not from data reconstruction before the use of conduit.

Processor 320 is optionally analyzed the collection image from the x-ray imagers 308 for detecting wherein label 312, and optionally for (such as, as described below) by NM data and catheter positioning and/or x-ray image registration.Optionally or alternately, processor 320 combines NM data and x-ray data, other rules of boolean (Boolean) logic OR are such as used, such as, as described below.Optionally or alternately, such as, the common application lawyer reference number 59774 submitted to as described, processor 320 uses the position (such as, being used to indicate the position to the constraint of launching from its expection) indicated by position sensing 316 to reconstruct NM image from NM data 318.Display 322 optionally illustrates combination image, the NM image of reconstruct, catheter positioning and/or one or more from the image of imager 308.

In one exemplary embodiment of the present invention, processor 320 follows the trail of these labels at label after differentiating in x-ray image first.Optionally, this discriminating is manually or automatically, and tracking is automatic, such as, uses picture tracking algorithm.

In exemplary embodiments more of the present invention, processor 320 is stand-alone device, this device can connect (such as, usage data, video and/or computer external connect) to existing x-ray system (to obtain data and/or to control to gather), be connected to NM source (such as, through LAN and/or Wide Area Network) to receive data and/or to be controlled to picture, be connected to position sensing (such as, to obtain position data) and/or be connected to special or standard display (such as, x-ray system, the control station of position system and/or NM system) to show thereon.Optionally, control station is also used for control processor 320).

exemplary fiducial marker thing

Fig. 4 is the schematic diagram with the fiducial marker 400 of removable radioactivity section 412 according to exemplary embodiments more of the present invention.In one exemplary embodiment of the present invention, it is one or all that label 400 is used as with reference to the label 312 described by figure 1A-3.

Radiopaque section 404 adhesion layer 402 of an example type as known in the art can be attached to health.In exemplary embodiments more of the present invention, part 404 is patterned it can be identified in x-ray image and/or for registration.Optionally, this patterning limits centrally-located 410, and this centrally-located is optionally aimed at section 412 in 2D or 3D, and can be differentiated in x-ray image exactly.Optionally or alternately, patterning provides the instruction of the orientation of label 400.Such as, if section divides 404 restriction concentric circulars, these circles are revealed as ellipse when observing in x-ray image, if label 400 is not perpendicular in the plane of FOV310.Optionally or alternately, labelling is used for extracting better the size of label, its (rotations) orientation and/or it is apart from (such as, comprising a series of gaps with different and known size, for the post analysis of imaging.

Optionally or alternately, for the adhesion layer for adhering to, independent adhesion section (such as, there is two-sided adhesion) can be used.Optionally or alternately, attachment can be via surgical clamp or stitching thread and/or screw (such as, on bone).Label 400 can comprise one or more aperture, depression and/or projection to support this attachment mechanism.

In exemplary embodiments more of the present invention, label 400 comprises the adapter 406 for attachment to section 412.Optionally, adapter 406 comprises the depression 408 for receiving section 412.Also alternative attachment mechanism can be used, as latch and/or adhesive agent or other interim articulamentums (such as shackle style connector).In exemplary embodiments more of the present invention, adapter 406 comprises interference element 414, its interlocking and/or the movement of obstruction matching element 416 in section 412.Optionally, element 414 comprises projection and element 416 comprises coupling depression, or vice versa.Optionally, section 412 is attached to adapter 406 and does not prevent relatively rotating therebetween.In certain embodiments, this rotation is prevented from.

In certain embodiments, section 412 is for dissimilar functional imaging, such as MRI or ultrasonic.Optionally or alternately, the label that part 404 is used to dissimilar imaging (not being x-ray, such as MRI or ultrasonic) substitutes.

In some embodiments of the invention, such as, except radiopaque section 404 or replace radiopaque section 404, label 400 comprises position sensor.Optionally, one or more instructions in part 404 are used for receiving position sensing contact pilotage (or conduit) exactly during its position correction.

Label 400 is described for being attached to body surface.Optionally, this surface is skin.Optionally or alternately, other surfaces (surface of such as mucosa surface and/or body interior) is for attachment.Optionally, at body interior, label 400 becomes than shown more in streamlined and/or more flat.Optionally or alternately, be in elliptical shape for the label used at body interior, and use screw mechanism to adhere to.

In exemplary embodiments more of the present invention, skin marker thing has and is less than 40mm, 30mm, 20mm, 10mm, 5mm or middle size at utmost.Optionally, the height (away from skin) of this label is less than 20mm, 10mm, 5mm.In one exemplary embodiment of the present invention, the radiopaque part of this label has the area (at skin upper process) being less than 4cm^2,2cm^2,1cm^2,20mm^2 or middle area.

In exemplary embodiments more of the present invention, implantable label has and is less than 30mm, 20mm, 10mm or intermediate degree at utmost.Optionally or alternately, this label is columniform generally and has the diameter being less than 10mm, 5mm, 3mm, 1mm or mid diameter size.

In one exemplary embodiment of the present invention, for arbitrary label type, NM part has the volume being less than 10cm^3,5cm^3,1cm^3,0.5cm^3,0.1cm^3 or middle size.Optionally, this part comprises encapsulation part, and this encapsulation part such as has thickness between 0.1 and 1mm and inner volume.Optionally, this encapsulation part comprises valve or other openable parts, such as, for self sealss elastic part that material enters.

In some embodiments of the invention, the amount of radiation in label is greater than and uses in body, because this radioactivity section is removable.Such as, amount of radiation can be 1mC, 10mC, 100mC or intermediate quantity or less or more amount.In certain embodiments, standard tracer is used in label.

In exemplary embodiments more of the present invention, because label has the good shape limited, use the radiation of unknown quantity (such as, expired medical science dosage), and carry out certification mark thing (in standard imaging, semaphore is usually diagnostic principal character) based on the shape/geometry and/or position had for detecting not too important semaphore.

exemplary compound display

Fig. 5 is representative display 500, and the data that the NM of the health generated by the processor 320 such as according to exemplary embodiments more of the present invention is derivative and navigational aid data are shown.Particularly, display 500 illustrates the combination of NM data, x-ray data and/or instrument.

Target organ/the tissue of tissue 504 (as a kind of bones) near reference substance 502 illustrates and has.Reference substance 506 indicates the focus in NM data, and reference substance 508 indicating structure profile (such as, the edge of tissue 502), this structure outline meets with focus 506 substantially.Such as, focus 506 can be the visual tumor of FDG tracer as used in PET imaging.In some cases, function image be not accurately matching structure image (such as, as shown), this can be the result of unshowned tissue change in structural images.

Reference substance 510 illustrates blood vessel, to have advanced conduit 512 at this Ink vessel transfusing.The image of conduit 512 can be such as extract from x-ray image, from its copy and/or reconstruct, such as use the locator data about conduit, the structural limitations forced by blood vessel 510.

Reference substance 514 indicates other (or alternative) focus from NM data.

Reference substance 516 indicates the reference mark object image from x-ray image, and these reference mark object images are optionally removed from image, or as indicated remaining in image and/or synthetically of this.

exemplary position is assessed

Fig. 6 is the method flow diagram 600 assessed according to the position of one exemplary embodiment of the present invention.As can be noted, the marker location in NM data and x-ray data can not be accurately mate.In addition, the patient moving during NM imaging and/or x-radial imaging can affect this comparison.Finally, NM data can be 3D, and x-ray data can be 2D.

At 602 places, marker location extracts from x-ray image.This can such as according to the patient's mobility detect in image and/or periodically repeat.Should be noted that this x-ray image can such as by translation and/or rotate this imager and move at intra-operative.Optionally, if FOV310 does not comprise for the right enough labels of image ratio, this system indicates to user.Optionally or alternately, position sensor is installed in x-ray imagers, make once with the comparison of NM data coordinates, can use location sensor and walk around (if desired) usage flag thing to follow the trail of other movement.

At 604 places, the position of extraction and NM marker location registration.Should point out, this mapping can such as based on the independent discriminating to label, such as Shape-based interpolation (in x-ray and/or NM image) and energy (NM image.Optionally, registration be based on NM data projection to x-ray plane and then determine differentiate respective markers thing between 2D mapping.

At 606 places, authenticated label movement (such as, because breathing, heart beating, GI wriggle).Optionally, discriminating to be compared by automated graphics and/or by following the trail of these labels position in time and/or its relative position.

At 608 places, NM data are the movement and deformations detected according to one or more label.Optionally, distortion is transformed by the distortion generated between label and applied this conversion when mapping and/or show to carry out.

At 610 places, application distortion, and NM data and x-ray image are compared.

At 612 places, optionally, the existence of multiple NM marker location (such as, corresponding to the different piece of the period of motion) should be noted.Optionally, the best fit (such as, using the tolerance of minimum nonlinear deformation) between the marker location in two kinds of patterns is determined.

Optionally, the actual specific of NM data and x-ray data to other combinations of the assessed value or assessed value that comprise weighting, such as, based on the comparison of label, the range of movement of label, the position of conduit and/or the input of other position sensings.

data assemblies such as screening

Fig. 7 is the method flow diagram 700 of the data assemblies of two images according to one exemplary embodiment of the present invention (such as, function and structure).Illustrate that therefore the display of NM data and x-ray data can visually become crowded and make to have the practicality of reduction.In one exemplary embodiment of the present invention, apply one or more rules to avoid showing (obviously) unwanted information.

In exemplary embodiments more of the present invention, after the segmentation in one or two image and/or Object identifying, apply these rules.Optionally or alternately, these rules are applied in Pixel-level data.In certain embodiments, rule relates to the Pixel-level data in a kind of image and the object in another kind of image.In exemplary embodiments more of the present invention, do not identify practical object.And the feature representing pixel group is used as the basis of rule.

At 702 places, provide the first image (such as NM image, as FDG image).This image can be such as 2D image, 3D rendering or 4D (time+3D) image.This image optionally comprises the instruction of multiple tracer.In some cases, data are provided and non-image.These data can arrange by usage space index.

At 704 places, provide the second image (such as, x-ray) or data set.

At 706 places, these two images of comparison, thus data in one image can be corresponding with the data in another image.

At 708 places, generate the mapping (such as, projection) from an image or data set to another image or data set, such as, based on the comparison determined.

At 710 places, one or more rules being used for showing are applied to one or two image.

712, based on these two images and the display of these generate rule.Optionally, this display comprises such a image, wherein the partial stack of another image and/or the part of this image alternative.Optionally or alternately, this display uses layer.Optionally or alternately, this display comprises the part of an image and the part of another image.Optionally or alternately, shownly not image but based on the composograph of data.Such as, temperature data can be shown as isothermal line.

In some embodiments of the invention, rule feeds back to Computer image genration.Such as, the architectural feature in x-ray image may be used for retraining the reconstruct from the NM image of NM data.Such as, the information from structural images is used to reconstruct (such as, re-projection) NM data as constraint.In another example, structural images information is for limiting area-of-interest for processing NM data further.Such as, can for the focus (such as, neuroganglion) by search in the geometry of structure qualification with a certain size and/or shape.

In an instantiation, transfer is one or more outstanding by the following rule of following application.First rule (being applied to NM image) differentiates that diameter is greater than all FDG focuses of 6mm.Second rule (being applied to this x-ray image) in 1cm (or 2cm), differentiates location (such as, for the program based on conduit, using the medicable location of conduit) from the blood vessel with the diameter being greater than 3mm.Three sigma rule (being applied to two images of combination) selects display for superposing x-ray image, only those focuses falling into the location set of x-ray image in NM image.As shown, rule can be applied to image, be applied to the result of section in image and/or between two images and/or between object and/or object or rule application.

Such as, rule can limit size or the shape of object.Optionally or alternately, rule can limit the distance between object.Optionally or alternately, rule can limit the amplitude of object.Optionally or alternately, rule can limit such as relative to statistical value (such as, the standard deviation of difference of the object of other objects.Optionally or alternately, rule can restriceted envelope pattern (such as, close to the tissue of bone).Optionally or alternately, rule can limit the object relative to other objects.Optionally or alternately, rule can limit contrast in object or between an object and another object.Optionally or alternately, rule can input additional data, as electric physiological data and/or surrounding tissue type (such as, from the CT number of CT image).

Fig. 8 is according to the screening of one exemplary embodiment of the present invention method flow diagram 800 for the patient for the treatment of of cancer.

At 802 places, gather the NM image of patient.

At 804 places, gather structural images (such as, x-ray).

At 806 places, in x-ray image, differentiate the latent carcinoma sex object.

At 808 places, in NM image, differentiate the latent carcinoma sex object.

At 810 places, one or more rules are applied to the object of discriminating.

At 812 places, synthetic image.

Fig. 9 be according to one exemplary embodiment of the present invention the data of combination and optional treatment device be shown schematically show 900.In one exemplary embodiment of the present invention, such as, use conduit 910, more than application rule during the treatment phase.

Reference substance 902 indicates the trunk in the vascular tree differentiated in x-ray image.Reference substance 904 is latent carcinoma seies object of display, because it meets the rule (large and close trunk) that reference diagram 8 describes.Reference substance 906 can also be carcinous, but optionally not shown (or be designated as be left in the basket), because its is not near too little blood vessel 908 and near enough large blood vessel 902.Conduit 910 optionally comprise position sensor and in fig .9 shown in image on directed.In one exemplary embodiment of the present invention, after rule application, following data are transferred into navigation system: the location of the blood vessel that conduit can be advanced by it; The location of tumor to be treated and size; And/or treat parameter and/or expected result; These data can be projected to 2D space.

exemplary alternative fiducial marker

Figure 10 A-10C is the diagram of the exemplary fiducial marker thing according to exemplary embodiments more of the present invention.In some implementations, the geometric center of radiopaque section and radioactivity section is formed in 2D or 3D overlap (optionally when being used for the amount of impermeability or activity with a kind of mode weighting similar with center of gravity).

In one exemplary embodiment of the present invention, label does not have the overlap section of active material and radiopaque material, or the overlap on the direction of x-radial imaging be the cross-sectional area (in this direction) of active material be less than 50%, 30%, 20% or middle percentage ratio.This radiopaque part that can reduce label is to the blocking-up of radiated signal.

Figure 10 A illustrates annular fiducial marker, and wherein radioactivity section and radiopaque section share a center.Also the shape outside annular can be used.In this drawing, label 1000 comprises the ring 1002 and centre bore 1006 with radiopaque section 1004.In certain embodiments, ring 1002 is hollow and can be (not shown via opening, such as, at 1004 places) in this ring, inject active material (if words of fluid) or insert (if words of solid or encapsulation) wherein.In alternative embodiments, ring 1002 is radiopaque and section 1004 (being optionally removable) is radioactive segment.Optionally, use adapter or use adhesion layer that section 1004 is attached to ring 1002, such as, as described above in reference to fig. 4.

Figure 10 B illustrates the label 1020 be applicable in insertosome according to one exemplary embodiment of the present invention.When illustrating with cross section, the shape of label 1020 can be oval.Optionally, label 1020 comprises bending metal or polymer moieties, such as, for spiral or the screw of grappling.

In shown example, polymer body 1022 comprises one or more, optionally two kinds of radiopaque sections 1028, and these radiopaque sections have the center of gravity overlapped with the center of gravity of the depression 1026 of radioactive segment.

Figure 10 C illustrates the side sectional view of smooth label 1040, this smooth label is included in the multiple projections 1044 (being optionally radiopaque at least partly) on pedestal 1042, and receives radioactivity section in these projections are adapted to be betwixt region 1046.Optionally, projection 1044 is radiopaque.It should be noted that only have when from top observe but be not observe from the side time, the active center of radiopaque section and radioactivity section optionally coincides.

Figure 11 A-11C is the exemplary diagram removing radioactive labels according to exemplary embodiments more of the present invention, indicates some probabilities of unsymmetry definitely.In exemplary embodiments more of the present invention, software in the extractor 320 of system 300 and/or other image processing section is programmed to automatically identify unsymmetry and corrects it and/or comprise the input for the discriminating and/or its characteristic receiving label, so can use and/or correct unsymmetry.

In certain embodiments, unsymmetry is between the radioactivity center that indicates of the radiopaque center that indicates in " natively " and " natural ".Such as, the radiation center of radioactivity section can be different from the point that two radiopaque sections (or its dummy line) are crossing or be different from the center (such as center of rotation) of radioactivity section of instruction.

Figure 11 A shows cross (or having other shapes of arm) label 1100, and this label has the good center of restriction and the radioactive marker 1102 in described center.Optionally, label 1100 has the arm (such as, differing by more than 1:1.5 or 1:2) of different length, such as, to help from x-ray image determination orientation.

Figure 11 B shows the dissimilar unsymmetry in label 1120, and its medium ring 1124 is radiopaque, but radiation section 1122 is not symmetric arrays.Optionally, such as use the different size of section 1122 and/or shape and/or impermeability, the location of this section can be differentiated in x-ray image.As in other embodiments, the function of radioactivity and radiopacity can be changed.In addition, it should be noted, some radioactivity sections itself are radiopaque.

Figure 11 C illustrates the viewgraph of cross-section of optionally implantable label 1140, and this label comprises can be radiopaque main body 1142 or can be attached to radiopaque label.Volume 1144 is set up as and receives radioactive fluid via optional passage 1146, and this passage is optionally for such as comprising the self sealss passage of silicon valve or rubber stopper.In use, by pin to be inserted at least in part in passage 1146 and to inject fluid via this pin and by radioactive fluid injected slurry volume 1144.Optionally, when radiological imaging completes, insert a needle in passage 1146 and/or volume 1144, and by fluid sucking-off.Optionally, label body 1142 is elastic and can compresses when volume 1144 is drained.

This mechanism for injecting fluid can use other labels, such as label 1120 can have wherein along the passage of all or part of formation of its circumference for receiving radioactive fluid.

In some embodiments of the invention, volume 1144 is not by spaced apart symmetrically relative to the shape of label 1142 and/or its radiopaque section.

In some embodiments of the invention, radiopaque label is marked as the unsymmetry indicating them relative to its radioactivity section.Optionally, the software in system 300 reads and/or otherwise differentiates this type of labelling, thus such as uses the spatial deviation based on these labellings to come correctly comparison NM coordinate and x-ray coordinates.

In some embodiments of the invention, if such as label is in arc form and/or unevenly along the circumferential arrangement of circle, then needs high-resolution NM imaging, low resolution imaging can indicate not at the point source at the center of rotation place of arc.High-resolution imaging can differentiate the shape of arc/circle, and therefore differentiates its correct center.Similarly, can need high-resolution imaging and/or applicable software for other geometries, wherein the geometric center of this shape or the center (center of star) of instruction do not overlap radioactive center (on average) position.

In some embodiments of the invention; the radioactivity section of label uses multiple energies (such as; may at different section places, each has different emitted energies) and/or energy in a section mixture and/or be different from usually or those the energy used in vivo for particular treatment.This purposes of different-energy can contribute to radioactive marker and the transmitting from health to distinguish mutually.Optionally or alternately, the shape (such as, and/or sharp keen geometrical boundary) of this label is for this differentiation.

It is desirable that, from the overdue patent life period of the application, can develop many mark of correlation things, and the scope of terms tag thing is intended to the new technique comprising all this kind of deductions as used herein.

As used herein, term " about " refer to ± 10%.

Term " comprises (comprises) ", " comprising (comprising) ", " comprising (includes) ", " comprising (including) ", " having (having) " and their conjugation mean " including but not limited to ".

Term " by ... composition " mean " comprise and be confined to ".

Term " primarily of ... composition " means compositions, method or structure and can comprise other composition, step and/or part, but condition composition, step and/or partial sterility matter that to be these other change basic feature and the novel feature of compositions required for protection, method or structure.

Unless the context clearly dictates otherwise, otherwise as used in this singulative "/kind (a/an) " and " being somebody's turn to do " comprise a plurality of indicant.Such as, term " a kind of compound " or " at least one compound " can comprise multiple compounds, comprise its mixture.

Run through the application, different embodiments of the invention can be rendered as a range format.Should be appreciated that description in range format only conveniently and concisely, and should not be interpreted as being the rigid restriction to scope of the present invention.Therefore, the description of a scope should be considered to have the definite all possible subrange of disclosure and the independent numerical value within the scope of this.Such as, scope has the definite subrange disclosed as being considered to from the description of 1 to 6, as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., and the independent numeral within the scope of this, such as 1,2,3,4,5 and 6.No matter the width of scope is how many, and this is all applicable.

Whenever herein means show numerical range time, mean any reference numerals (mark or integer) comprised in indicated scope.Phrase first designation number and the second designation number " between mobility scale/scope " and " mobility scale/scope " of the first designation number " extremely " second designation number are used interchangeably at this, and mean to comprise this first designation number and the second designation number and all marks between and integer.

As used herein, term " method " refers to mode, means, technology and program for completing Given task, include but not limited to chemistry, pharmacology, biology, biochemistry and medical domain practitioner known or those modes, means, technology and the program easily developed by known way, means, technology and program.

As used herein, term " treatment " comprises elimination, substantially suppresses, slows down or reverse the progress of condition of illness, the clinical symptoms substantially improving condition of illness or aesthetical symptoms or substantially prevents the clinical symptoms of condition of illness or aesthetical symptoms from occurring.

Should be understood that some feature of the present invention for clearly object is described under the background of separately embodiment can also be provided in single embodiment by combining form.On the contrary, for simplicity, the different characteristic of the present invention described in the context of a single embodiment also or can be provided in of the present invention any other in the appropriate case and describes in embodiment individually or with any applicable sub-portfolio.Some feature described under the background of different embodiment does not think the required feature of those embodiments, unless embodiment is invalid when not having those key elements.

Although describe the present invention in conjunction with specific embodiment of the present invention, obviously, it will be apparent to those skilled in the art many replacement schemes, amendment and change.Therefore, intention contain fall into appended claims spirit and broad range in these type of replacement schemes all, amendment and change.

In this description, mentioned all open, patent and patent application are attached in this description at this by quoting in full, and reach as each independent open, patent or patent application by ad hoc and indicate the identical degree being combined in this by reference individually.In addition, quoting or identifying should not be construed as and admit that this reference paper is obtainable as prior art of the present invention to any reference paper in the application.In the meaning using chapter title, they should not be interpreted as limiting necessarily.

Claims

1. a data representation method, the method comprises:

In the very first time of patient and the performance data of the collection of location place and at least one anatomy indicant registration;

The position of described at least one anatomy indicant is gathered in second time of this patient and location place; And

Display indicates with at least one of the described performance data of the position registration of described collection.

2. method according to claim 1, wherein said acquisition function data comprise collection NM (nuclear medicine) data together with the radiopaque label of collection at least one.

3. method according to claim 1, wherein said acquisition function data comprise the position that image data carries out together with use location sensor and determine.

4. method according to claim 1, wherein said acquisition function data comprise the multipoint images of resolving radioactivity fiducial marker.

5. method according to claim 1, wherein said acquisition function data comprise the asymmetrical characteristic of resolving radioactivity fiducial marker.

6. method according to claim 1, wherein said anatomy indicant comprises the radioactivity reference mark of jointly locating with radiopaque labelling.

7. method according to claim 6, the method comprises the described radioactivity reference mark removed between the described very first time and described second time.

8., according to method in any one of the preceding claims wherein, wherein saidly collection is carried out to position comprise plane x-ray image is gathered.

9. method according to claim 8, wherein said display comprises and at least part of described performance data being superimposed upon on described x-ray image.

10. method according to claim 8, wherein said acquisition function data comprise the multiple positions gathering described anatomy indicant, gather together with described performance data.

11. methods according to claim 8, the method comprises analyzes described display to differentiate the one or more focuses on described plane x-ray image.

12. 1 kinds of registration of image data methods, the method comprises:

(c) based on the registration of the described position of described first label and described multiple position of described first label, by described first view data and described second registration of image data.

13. methods according to claim 12, wherein said view data comprises the view data of continuous acquisition.

14. methods according to claim 13, wherein said view data and described position are collected through at least one whole complete cardiac cycle.

15. methods according to claim 13, the method comprises the model of the position described multiple position being treated to described first label.

16. methods according to any one of claim 12-15, wherein said collection second view data comprises collects one or more plane x-ray image.

17. methods according to claim 16, wherein said collection second view data comprises the described position of extracting described first label from described plane x-ray image.

18. methods according to any one of claim 12-15, wherein said registration comprises and uses described multiple position to retrain a series of possible registration.

19. devices shown for image, comprising:

(a) memorizer, this memorizer has stored the position of NM data and the location of at least one anatomy in described data thereon;

B () is for the input of x-ray image;

20. devices according to claim 19, wherein said position extractor also extracts the position of at least one instrument, and described supercircuit by described tool location superposition on the image.

21. according to claim 19 or device according to claim 20, and wherein said position extractor comprises the evaluator of the fiducial marker identified on this image.

22. 1 kinds of fiducial marker, comprising:

(a) radiopaque section; And

B () radioactive label section, this radioactive label section comprises the installation material for removable radioactive marker part.

23. fiducial marker according to claim 22, wherein said installation material comprises the container for radioactive fluid.

24. fiducial marker according to claim 22, wherein said installation material comprises the container for radioactivity insert.

25. fiducial marker according to claim 22, wherein said installation material comprises the cooperation based on interference.

26. fiducial marker according to claim 22, it is active that wherein said radioactive label section has the radiation center of jointly locating with the Bu Tou center of at least two dimensions and described radiopaque section.

27. fiducial marker according to claim 22, at least one of wherein said section is annular.

28. fiducial marker according to claim 22, comprise having and are applicable to the adhesion layer of long-term adhesion to the adhesive agent of human skin.

29. fiducial marker according to any one of claim 22-28, comprise the radiolabel moiety be arranged in described installation material.

30. fiducial marker according to claim 29, the energy feature of wherein said radioactive segment comprises multiple different energy band.

31. fiducial marker according to claim 30, at least one of wherein said energy band is not associated with the energy feature of the biocompatibility tracer in Clinical practice.

32. fiducial marker according to claim 29, wherein said radioactive marker part is formed by non-biocompatible active material.

33. 1 kinds of fiducial marker, comprising:

Wherein said two points are located jointly with at least two dimensions and overlapping.

34. labels according to claim 33, at least one of wherein said point is limited by a part.

35. labels according to claim 33, at least one of wherein said point is assigned to limit by ring portion.

36. labels according to any one of claim 33-35, wherein said radioactivity section comprises removable radiolabel moiety.

37. labels according to any one of claim 33-35, comprise having and are applicable to the adhesion layer of long-term adhesion to the adhesive agent of human skin.

38. 1 kinds of methods using fiducial marker, the method comprises:

A fiducial marker is attached to patient by ();

B () uses NM system to carry out imaging to obtain NM data to this patient;

D () generates from described NM data and the described location determined and comprises the NM image of described fiducial marker and the data set of position.

39. according to method according to claim 38, and wherein said fiducial marker is radiopaque, and the method comprises use location sensor describedly to determine for carrying out.

40. according to method according to claim 38, and wherein said fiducial marker is radioactive.

41. methods according to claim 40, the method comprises described fiducial marker is attached to patient, and after this makes described label have radioactivity.

42. according to claim 40 or method according to claim 41, the method comprise make described label be inactive be previous radiation be less than 10%, and by it from patient remove and go through the time being less than 10 minutes.

43. methods according to any one of claim 40-41, wherein determine to locate in the NM data being included in described imaging and differentiate described label.

44. methods according to claim 43, wherein determine to locate the energy feature comprising and differentiate described label.

45. methods according to claim 43, wherein determine to locate the shape comprising and differentiate described label.

46. 1 kinds of methods shown from the data of multiple data collection, the method comprises:

A () provides rule, this rule comprises one or more first characteristics for the first data set; For one or more second characteristics of the second data set; And the relation between these the first characteristic and second characteristics;

B described rule is applied to the first data set by ();

B described rule is applied to the second data set by (); And

C () is based on relation display instruction as described in rule as described in the result as being applied to application described in (a) and (b).

47. methods according to claim 46, wherein said first data set and described second data set have different patterns.

48. methods according to claim 46, wherein said relation makes the architectural feature a data centralization relevant to the functional character in another data centralization.

49. methods according to claim 48, wherein said display is binary, if this rule match, instruction is shown, and if this rule is not mated, instruction is not shown.

50. methods according to any one of claim 46-49, wherein said instruction comprises a part of data from data set described at least one.

51. methods according to any one of claim 46-49, wherein said (b) carries out application and comprises described first data set of segmentation for described rule being applied to one or more segmentation section.

52. methods according to any one of claim 46-49, wherein said first data set is NM, and described second data set is x-ray.

53. methods according to any one of claim 46-49, the method comprises and builds described rule from the relevant to described first data set first rule and from the Second Rule relevant with described second data set.